Sharing of sparse slam coordinate systems

ABSTRACT

Mixed-reality systems are provided for using anchor data structures, such as anchor graphs, within a mixed-reality environment. These systems utilize anchor components, such as anchor vertexes, that comprise at least one first key frame, a first mixed-reality element, and at least one first transform connecting the at least one first key frame to the first mixed-reality element. Anchor connecting components, such as anchor edges, comprise transformations that connect the anchor components (e.g., anchor vertexes).

This application is a continuation of U.S. patent application Ser. No.15/169,045 filed on May 31, 2016, entitled “SYSTEMS AND METHODS FORUTILIZING ANCHOR GRAPHS IN MIXED REALITY ENVIRONMENTS,” which issued onFeb. 26, 2019 as U.S. patent Ser. No. 10/217,231. This application isalso co-pending with U.S. patent application Ser. No. 15/786,266 filedon Oct. 17, 2017, entitled “SYSTEMS AND METHODS FOR UTILIZING ANCHORGRAPHS IN MIXED REALITY ENVIRONMENTS.” The foregoing applicationsapplication are expressly incorporated herein by reference in theirentireties.

BACKGROUND

Mixed-reality computer systems have recently received significantinterest for their ability to create immersive experiences for users.Mixed-reality systems include virtual reality, augmented reality, andother systems that incorporate virtual elements into a real-worldenvironment.

One particular interest in mixed-reality applications is the ability formultiple users to have common shared experiences within a sharedmixed-reality worldspace. For example, a first user may create amixed-reality element that is accessed and viewed by others that arenavigating through the shared worldspace. However, several technicalchallenges and obstacles have to be addressed to allow a seamless sharedexperience. For example, the respective mixed-reality systems need toestablish some form of common coordinates. The recent emergence ofmixed-reality applications for mobile computing devices has, at least inpart, been enabled by advances in Simultaneous Location and Mapping(“SLAM”) tracking systems and the broad availability of mobile depthcamera modules. Convincing and seamless experiences in a sharedmixed-reality worldspace can be accomplished by sharing accuratelyregistered SLAM coordinate systems between client devices.

Sharing SLAM coordinate systems with large mixed-reality worldspaces canbe memory and processor intensive. For example, sharing large numbers ofkey frames between different devices often involves sending the samelarge amounts of data to and from multiple devices. Transmitting suchlarge amounts of data can lead to both network performance issues due toconstrained bandwidth and memory issues at each user device.Accordingly, there is a need for improved shared SLAM coordinate systemsthat are band-width and memory efficient.

The subject matter claimed herein is not limited to embodiments thatsolve any disadvantages or that operate only in environments such asthose described above. Rather, this background is only provided toillustrate one exemplary technology area where some embodimentsdescribed herein may be practiced.

BRIEF SUMMARY

Embodiments disclosed herein comprise systems, methods, and apparatusesconfigured to efficiently utilize both network bandwidth and devicestorage within shared mixed-reality coordinate systems. In particular,disclosed embodiments comprise mixed-reality devices and mixed-realityserver systems for generating anchor vertexes that comprise one or morekey frames, a mixed-reality element, and at least one transformconnecting the one or more key frames to the mixed-reality element.Additionally, the mixed-reality devices and mixed-reality server systemsare configured to generate an anchor edge that comprises a transformbetween a first anchor vertex and a second anchor vertex. The variousanchor vertexes and anchor edges are stored by the mixed-reality serversystems and provided, as needed, to user devices.

Disclosed embodiments include computer systems for generating an anchorgraph for a mixed-reality environment. The systems comprise one or moreprocessors and one or more computer-readable media having storedcomputer-executable instructions that are executable by the one or moreprocessors to configure the computer system to perform various acts. Forexample, the executable instructions are operable to configure the oneor more processors to identify a first anchor vertex that includes afirst set of one or more key frames, a first mixed-reality element, andat least one first transform connecting at least one key frame of thefirst set of the one or more key frames to the first mixed-realityelement.

The executable instructions are also operable to configure the one ormore processors to identify a second anchor vertex that includes asecond set of one or more key frames, a second mixed-reality element,and at least one second transform connecting at least one key frame ofthe second set of the one or more key frames to the second mixed-realityelement. Additionally, the executable instructions are further operableto configure the one or more processors to create a first anchor edgebetween the first anchor vertex and the second anchor vertex and toconfigure the one or more processors to save the first anchor vertex,the second anchor vertex, and the anchor edge within an anchor graphdata structure.

Additional disclosed embodiments include methods for using an anchorgraph within a mixed-reality environment. These methods include acts foridentifying a first device with a stored first anchor graph and fordetecting when the first device is within a predetermined proximity to afirst physical location. Then, in response to detecting that the firstdevice is within the predetermined proximity, a first anchor vertex anda first anchor edge are transmitted to the first device. The firstanchor vertex comprises at least one first key frame, a firstmixed-reality element, and at least one first transform connecting theat least one first key frame to the first mixed-reality element. Thefirst anchor edge comprises a transformation connecting the first anchorvertex to another anchor vertex.

Further disclosed embodiments include methods for using an anchor graphwithin a mixed-reality environment. These methods include a first userdevice communicating, to a server, location data associated with alocation of the first user device. The first user device then receives,in response to the communication, a first anchor vertex that is within apredetermined proximity to the first device and a first anchor edge. Thefirst anchor vertex includes at least one first key frame, a firstmixed-reality element, and at least one first transform connecting theat least one first key frame to the first mixed-reality element. Thefirst anchor edge comprises a transformation connecting the first anchorvertex to another anchor vertex.

This Summary is provided to introduce a selection of concepts in asimplified form that are further described below in the DetailedDescription. This Summary is not intended to identify key features oressential features of the claimed subject matter, nor is it intended tobe used as an aid in determining the scope of the claimed subjectmatter.

Additional features and advantages will be set forth in the descriptionwhich follows, and in part will be obvious from the description, or maybe learned by the practice of the teachings herein. Features andadvantages of the invention may be realized and obtained by means of theinstruments and combinations particularly pointed out in the appendedclaims. Features of the present invention will become more fullyapparent from the following description and appended claims, or may belearned by the practice of the invention as set forth hereinafter.

BRIEF DESCRIPTION OF THE DRAWINGS

In order to describe the manner in which the above-recited and otheradvantages and features can be obtained, a more particular descriptionof the subject matter briefly described above will be rendered byreference to specific embodiments which are illustrated in the appendeddrawings. Understanding that these drawings depict only typicalembodiments and are not therefore to be considered to be limiting inscope, embodiments will be described and explained with additionalspecificity and detail through the use of the accompanying drawings inwhich:

FIG. 1 illustrates a perspective view of a user viewing a sculpturethrough an embodiment of a mixed-reality headset.

FIG. 2 illustrates a map of a user's pathway through a sculpture parkwhile wearing an embodiment of a mixed-reality headset.

FIG. 3 illustrates an embodiment of an anchor map of a user's pathwaythrough the sculpture park of FIG. 2.

FIG. 4A illustrates an exploded view of the anchor map of FIG. 3.

FIG. 4B illustrates another exploded view of the anchor map of FIG. 3.

FIG. 5 illustrates a schematic view of an embodiment of a mixed-realitysystem.

FIG. 6 illustrates a flowchart for an embodiment of a method forgenerating an anchor graph for a mixed-reality environment.

FIG. 7 illustrates a flowchart for an embodiment of a method for usingan anchor graph within a mixed-reality environment.

FIG. 8 illustrates a flowchart for another embodiment of a method forusing an anchor graph within a mixed-reality environment.

DETAILED DESCRIPTION

Disclosed embodiments include systems, methods, and apparatuses that areconfigured to optimize the sharing of SLAM coordinate systems. Inparticular, disclosed embodiments improve network bandwidth consumptionbetween different portions of a mixed-reality system. Additionally,disclosed embodiments dramatically reduce the amount of storage requiredto utilize shared SLAM coordinate systems.

Some disclosed embodiments provide significant technical improvements tothe field of mixed-reality computer systems for sharing coordinatesystems and for referencing objects within a mixed-reality environment.The disclosed systems are capable of providing significant reductions inthe quantity of data that must be transmitted and stored for enablingthe shared use of a mixed-reality environment. For instance, rather thanstoring and transmitting a complete mapping of all elements in theshared environment to all systems, it is possible to transmit and shareonly relevant data that is sufficient to identify relative locations ofthe different systems/components within the shared environment. This maybe accomplished, in some instances, by creating and using anchorvertexes and establishing/identifying transforms between those anchorvertexes.

For example, some embodiments comprise mixed-reality devices andmixed-reality server systems for generating anchor vertexes thatcomprise one or more key frames, a mixed-reality element, and at leastone transform connecting the one or more key frames to the mixed-realityelement. Additionally, the mixed-reality devices and mixed-realityserver systems also generate an anchor edges that comprise transformsbetween different anchor vertexes. The various anchor vertexes andanchor edges are stored by the mixed-reality server system and provided,as needed, to user devices.

Turning now to the figures, FIG. 1 illustrates a perspective view of auser 100 viewing a sculpture 120 through an embodiment of amixed-reality headset 110 (also referred to herein as a “mixed-realitydevice”). The mixed-reality headset 110 may comprise various sensors,displays, processors, storage devices, network interfaces, and othersimilar computer components. The mixed-reality headset 110 is capable oftracking the user's surroundings and displaying three-dimensional imagesthat overlay the real-world environment of the user 100. One willunderstand that there are numerous different embodiments ofmixed-reality devices, such as the depicted mixed-reality headset 110,that can equivalently be used within the embodiments disclosed herein.In this regard, the depicted mixed-reality headset 110 should not beviewed as limiting the scope of this disclosure, but merely one form ofan exemplary system that is provided for the sake of clarity andexplanation.

In FIG. 1, the user 100 is depicted as viewing a sculpture 120 throughthe mixed-reality headset 110. The user 100 is also viewing amixed-reality element 130 that is rendered by the mixed-reality headset110. In the depicted embodiment, the mixed-reality element 130 comprisesa hologram of an art expert that is programed to provide informationabout the sculpture 120. In alternate embodiments, however, themixed-reality element 130 is composed of a plurality of differentcomputer-generated objects/components including, but not limited to,two-dimensional video, text information, two-dimensional images, audiodata, interactive user interfaces, and any number of other equivalentand known computer generated user interface objects within mixed-realitysystems. As such, while the present disclosure primarily describesmixed-reality elements, such as the hologram of element 130, one willunderstand that mixed-reality elements within the scope of thisdisclosure can comprise any number and type of different augmented andvirtual reality objects/content.

FIG. 2 illustrates a map 200 of a user's pathway 260 through a sculpturepark while wearing a mixed-reality headset 110 (shown in FIG. 1). Thedepicted sculpture park comprises a number of different sculptures 210,220, 230, 240, including sculpture 120 from FIG. 1. Additionally, themap 200 depicts various key frames 250 that are generated by themixed-reality headset 110 as the user 100 walks along the user's pathway260. As used herein, key frames 250 comprise visual samples that themixed-reality headset 110 gathers from an environment to establish acoordinate frame. For example, the key frames 250 may comprise imagedata and geolocation data that is received and processed by a camerawithin the mixed-reality headset 110 as the user 100 walks along thepathway 260.

Tracing the user's pathway 260 through the sculpture park, FIG. 2illustrates that the user 100 first walks to sculpture 120 where a firstmixed-reality element 130 is displayed. The user 100 then continuesalong the pathway 260 to sculpture 210 where a second mixed-realityelement 212 is displayed to the user. The user's pathway 260 thenprogresses to sculpture 220 and an associated third mixed-realityelement 220. The user 100 then travels to sculpture 230 where anassociated fourth mixed-reality element 232 is displayed. The user'spathway 260 continues to sculpture 240 and an associated fifthmixed-reality element 242. Finally, the user 100 returns to sculpture220 and a sixth mixed-reality element 222.

In at least one embodiment, the user 100 is capable of generatingmixed-reality element (e.g., 222) that is associated with a particularsculpture (e.g., 220). For example, the user 100 may have access to apre-made hologram of an art expert describing sculpture 220. In analternative embodiment, the user 100 may create a wholly new hologramdescribing sculpture 220. In any case, the user 100 provides amixed-reality element 222 that is associated with sculpture 220. In atleast one embodiment, the user 100 also determines the physical locationof the mixed-reality element 222 with respect to the sculpture 220. Thisinformation can be entered into system 110 and/or into a connectedserver system.

Using methods that will be described more fully herein, a second user(not shown) may at a future time also approach sculpture 220. If thesecond user is wearing a mixed-reality headset 110, the mixed-realityelement 220 that was created by user 100 can be displayed to the seconduser (as provided through system 110 or the connected server system,based on the positioning of the second user). As such, a user is capableof both generating mixed-reality elements and receiving mixed-realityelements that were generated by others.

FIG. 3 illustrates an anchor map 300 corresponding to the user'straversed pathway 260 through the sculpture park of FIG. 2, startingfrom location 310. FIG. 3 also depicts the key frames 250, mixed-realityelements 130, 212, 222, 232, 242, and various other anchor map elementsproximate the user's pathway 260.

As used herein, an anchor map 300 comprises digital data that mapsmixed-reality elements (e.g., 130) to locations within the real world.The anchor map 300 depicted in FIG. 3 is merely exemplary and is simplybeing provided for the sake of discussion. One of skill in the art willunderstand that in practice an anchor map comprises a different form,function, and structure than the visual anchor map 300 that is currentlydepicted.

In addition to the elements depicted within the map 200 of FIG. 2, theanchor map 300 also depicts a first anchor vertex 320, a second anchorvertex 330, a third anchor vertex 340, a fourth anchor vertex 350, and afifth anchor vertex 360. Each anchor vertex comprises a first set of oneor more key frames (e.g., key frames 322 a, 322 b, 322 c), amixed-reality element (e.g., mixed-reality element 130), and at leastone transform (e.g., transform 324) connecting at least one key frame(e.g., key frame 322 a) to the mixed-reality element (e.g.,mixed-reality element 130).

As used herein, a transform comprises a mathematical relationshipbetween a location and viewing direction of the key frame and thelocation and pose of the mixed-reality element. The mathematicalrelationship may be a SE3 transformation (i.e., 3D rotation andtranslation) transform or other transform capable of providing relativelocation and position of objects. The transform may be based on anylocation referencing scheme, including vector relationships, spatialcoordinates, rotational and/or translational matrices, and so forth.

The mixed-reality headset 110 uses the transform and its associated keyframe to determine the correct location and pose to render amixed-reality element with respect to the location of the associated keyframe. The rendering of the mixed-reality element may be performed withany augmented reality or virtual reality technology that is known,wherein the relative positioning and pose of the rendered element isbased on the techniques described within this disclosure, based at leastin part on the determined anchor vertexes and connecting transforms.

Each anchor vertex (e.g., first anchor vertex 320) is associated with atleast one anchor edge (e.g., first anchor edge 372) that connects theanchor vertex to another anchor vertex. As used herein, an anchor edgecomprises a direct mathematical transform that maps the relativelocation of a first anchor vertex (e.g., 320) to the relative locationof a second anchor vertex (e.g., 330). In at least one embodiment, ananchor edge also omits key frames 250 that are known to exist along thepathways between two respective anchor vertexes or other map locationsnear the anchor vertexes. In particular, the anchor edges representtransformations which may have been initially estimated by analysis ofco-visible key frames, but are encoding the total transformation betweenanchors without requiring the transmission of individual key frames andpose-links (transforms) between the same. In this regard, the anchoredge comprises a composition or replacement of many interveningtransforms. By omitting the key frames, it is possible to significantlyreduce the data that needs to be stored/processed to identify a relativelocation within a mixed-reality environment. This is a significantchange and improvement over known systems that map/reference all keyframes traversed between different locations in a virtual environment.

Additionally, in at least one embodiment, an anchor edge comprises arotational and/or translational matrix that represents the physicalrotation and translation between two different anchor vertexes. Further,an anchor edge can comprise an SE(3) transform between a source and atarget anchor vertex, a three-dimensional vector, or any othermathematical construct that is capable of describing a pathway betweentwo objects located within a physical space.

Upon identifying the location of a first anchor vertex 320, themixed-reality headset 110 uses the first anchor edge 372 to correctlydetermine the location of the second anchor vertex 330 (and itsassociated mixed-reality element 212).

In at least one embodiment, as the user 100 walks along the pathway 260,the mixed-reality headset 110 identifies a first anchor vertex 320. Thefirst anchor vertex includes a first set of one or more key frames322(a-c), a first mixed-reality element 130, and at least one firsttransform connecting at least one key frame 322 a to the firstmixed-reality element 130. Additionally, as the user continues along thepathway 260, the mixed-reality headset 110 identifies a second anchorvertex 330. The second anchor vertex 330 also includes a second set ofone or more key frames 332(a, b), a second mixed-reality element 212,and at least one transform 334 connecting at least one key frame 332 ato the second mixed-reality elements 212.

Upon identifying the first anchor vertex 320 and the second anchorvertex 330, the mixed-reality headset 110 creates a first anchor edge372 between the first anchor vertex 320 and the second anchor vertex330. In at least one embodiment, the mixed-reality headset 110 is thencapable of saving the first anchor vertex 320, the second anchor vertex330, and the first anchor edge 372 within an anchor graph datastructure. In various embodiments, the anchor graph data structure maybe stored within local memory in the mixed-reality headset 110, withinremote memory on a remote server, or within a combination thereof. Asused herein, identifying an anchor vertex can comprise receiving ananchor vertex from a remote server and/or creating an anchor vertex.

Continuing the example above, in at least one embodiment, the user 100continues along the pathway 260 to a third sculpture 220 (shown in FIG.2) that is associated with a third anchor vertex 340. The third anchorvertex 340 is associated with mixed-reality element 222, key frames 342(a, b), and transform 344. Upon identifying the third anchor vertex 340,the mixed-reality headset 110 can create a second anchor edge 374between the second anchor vertex 330 and the third anchor vertex 340.

As depicted in FIGS. 2 and 3, the second anchor edge 374 substantiallyaligns with a pathway 260 that the user 100 walked between the secondanchor vertex 330 and the third anchor vertex 340. Creating an anchoredge (e.g., 374) comprises calculating a direct mathematicaltransformation between two anchor vertexes. In at least one embodiment,the mixed-reality headset 110 calculates the mathematical transformationby calculating rotational and/or translational matrices based upon datagathered by the mixed-reality headset 110. For example, themixed-reality headset 110 may comprise sensors such as accelerometers,gyroscopes, depth cameras, vision sensors, magnetometers, GPS units, andother similar navigational and positional sensors—one or more of whichcan be utilized to generate key frames 250. As such, in at least oneembodiment, the mixed-reality headset 110 calculates an anchor edge bycalculating rotational and/or translational matrices that link twoanchor vertexes based upon the received sensor data, such as key frames250.

After creating the second anchor edge 374, the mixed-reality headset 110creates a third anchor edge 376 between the first anchor vertex 320 andthe third anchor vertex 340. Of note, the user 100 never walked directlyfrom the first anchor vertex 320 to the third anchor vertex 340. In thiscase, instead of generating the third anchor edge 376 based upon sensordata that the mixed-reality headset 110 gathered as the user 100 walkedbetween the first anchor vertex 320 and the third anchor vertex 340, themixed-reality headset 110 generates the third anchor edge 376 bycombining the first anchor edge 372 and the second anchor edge 374. Forexample, combining the first anchor edge 372 and the second anchor edge374 may comprise adding together the respective rotational andtranslational matrices that are associated with the first anchor edge372 and the second anchor edge 374. Similarly, instead of directlycombining the first anchor edge 372 and the second anchor edge 374, themixed-reality headset 110 can generate the third anchor edge 376 bygenerating rotational and translational matrices based upon the varioussensor readings (e.g., key frames 250) gathered along the user's pathway260 from the first anchor vertex 320 to the second anchor vertex 330 andthen on to the third anchor vertex 340. As such, in at least oneembodiment, the mixed-reality headset 110 is capable of creating ananchor edge between any two anchor vertexes within an anchor graph bycombining intermediate anchor vertexes or intermediate sensor readingstogether.

In at least one embodiment, identifying an anchor vertex comprisescreating an anchor vertex. For example, user 100, using methodsdescribed above, may create mixed-reality element 130 that is associatedwith sculpture 120. After creating mixed-reality element 130, themixed-reality headset 110 automatically calculates a transform 324 thatassociates at least one key frame 322 a with the mixed-reality element130. In at least one embodiment, a transform 324 between a key frame 322a and a mixed-reality element 130 comprises translational and rotationalmatrices that orient the mixed-reality element 130 with respect to thekey frame 322A. Additionally, in at least one embodiment, the transformis based upon an interpolation of a coordinate location associated withthe mixed-reality element 130, which coordinate location is derived fromcoordinates associated with each of the one or more key frames (e.g.,362(a-c). For example, in anchor vertex 360, multiple transforms364(a-c) are depicted as relating the location of the mixed-realityelement 242 to multiple key frames 362(a-c). As such, in at least oneembodiment, a location of a mixed-reality element can be derived fromcoordinate systems associated with multiple key frames 362(a-c).

After calculating the transform 324, the mixed-reality headset 110creates the first anchor vertex 320 by creating a data structure thatcontains a reference to the mixed-reality element 130, the transform324, the associated key frame 322 a, and various other key frames 322(b,c) that are also proximate to the location of the mixed-reality element130.

In at least one embodiment, the number of key frames 322(a-c) associatedwith a particular anchor vertex is determined by a pre-defined memorysize cap for anchor vertexes. For example, a mixed-reality headset 110may limit the size of any given anchor vertex to 10 MB, 15 MB, 20 MB orany other predetermined size. As such, the mixed-reality headset 110only includes a restricted number of key frames to a predeterminednumber of key frames (e.g., less than 2, less than 3, less than 5, oranother quantity) and/or to a predetermined storage size that willmaintain a total memory size of the anchor vertex (e.g., less than orequal to about 10 MB). This may include omitting key frames, aspreviously discussed. In various embodiments, capping the memory size ofanchor vertexes allows a mixed-reality system to operate withinoptimized bandwidth and memory parameters. For example, whether creatingand uploading an anchor vertex or receiving an anchor vertex from aremote server, the mixed-reality headset 110 only needs to store and/orcommunicate data files that are limited to a predetermined size (e.g.,10 MB).

In addition to the various methods described above for creating anchorvertexes, in at least one embodiment, the mixed-reality device 110receives anchor vertexes from a mixed-reality server system (shown as550 in FIG. 5). For example, in at least one embodiment, themixed-reality headset 110 communicates data to the mixed-reality serversystem 550. Using the data received from the mixed-reality device 110,the mixed-reality server system 550 identifies that the mixed-realitydevice 110 comprises a stored anchor graph. In at least one embodiment,the mixed-reality server system 550 receives an index of anchor vertexesstored within the anchor graph on the mixed-reality device 110. Usingthe index, the mixed-reality server system 550 determines whatadditional anchor vertexes to send to the mixed-reality device 110 andthat are related to the stored anchor vertexes (e.g., related bylocation or context). The system 550 may also create transforms betweenthe stored and new vertexes that are being sent to the user device 110.Alternatively, the user device 110 may create the transforms.

In some embodiments, the mixed-reality server system 550 triggers thetransmission of vertexes to the user device in response to detecting themixed-reality device 110 is within a predetermined proximity to a firstphysical location. The detection of the device 110 location can be basedon sensors in the device 110 and other systems proximate the firstlocation. Alternatively, the location can be extrapolated from mappingtraversal of the user's path 260. In yet other embodiments, the locationis determined by location information entered by the user at the device110 that specifies their location.

The first physical location may comprise the location of mixed-realityelement 130, sculpture 120, first anchor vertex 320, or any otherphysical location otherwise associated with sculpture 120. In responseto detecting that the mixed-reality device 110 is within thepredetermined proximity, the mixed-reality server system 550 transmitsthe first anchor vertex 320 and the first anchor edge 372 to themixed-reality device 110.

As described above, in at least one embodiment, the mixed-reality serversystem 550 is also configured to receive one or more anchor vertexesfrom the mixed-reality device 110, which may be subsequently stored atthe server system 550 for use by one or more other user systems. Forexample, the user 100, in conjunction with the mixed-reality device 110,may create a new anchor vertex and its associated at least one new keyframe, new mixed-reality element, and new transform 344 connecting theat least one new key frame to the new mixed-reality elements. Even morespecifically, the mixed-reality device may create the third anchorvertex 340 and its associated at least one key frame 342(a, b),mixed-reality element 222, and transform 344 connecting the at least onekey frame 342 a to the mixed-reality elements 222.

After the mixed-reality device 110 creates the new anchor vertexes(e.g., the third anchor vertex 340), the mixed-reality server system 550receives the new anchor vertex from the mixed-reality device 110.Additionally, the mixed-reality server system 550 also receives aphysical location that is associated with the real-world physicallocation of the new anchor vertex and a new anchor edge that comprises atransformation between the first anchor vertex 320 and the new anchorvertex. For example, the mixed-reality server 550 may receive the thirdanchor vertex 340, the physical location associated with the thirdanchor vertex 340, and the third anchor edge 376 that links that thirdanchor vertex 340 to the first anchor vertex 320.

When a second user (not shown) who has an associated secondmixed-reality device (not shown) enters the sculpture park depicted inFIGS. 2 and 3, the mixed-reality server system 550 identifies that thesecond mixed-reality device is storing a second anchor graph.Additionally, the mixed-reality server system 550 detects that thesecond mixed-reality device is within a predetermined proximity to thephysical location that is associated with the new anchor vertex (e.g.,the third anchor vertex 340). In response to detecting that the secondmixed-reality device is within the predetermined proximity to thephysical location, the mixed-reality server system 550 transmits thethird anchor vertex 340 and the third anchor edge 376 to the secondmixed-reality device. Accordingly, the second mixed-reality devicereceives anchor vertexes and anchor edges that were identified by aseparate user 100 and mixed-reality device 110. As such, in at least oneembodiment, the mixed-reality server system 550 stores and transmits aplurality of anchor vertexes and associated anchor edges that arecreated by various different devices.

Turning now to FIG. 4A, FIG. 4A illustrates an exploded view 400 of theanchor map 300 of FIG. 3. In particular, FIG. 4A depicts the user'spathway 260 in relation to the third anchor vertex 340, the fourthanchor vertex 350, and the fifth anchor vertex 360. The third anchorvertex 340 comprises mixed-reality element 222, the fourth anchor vertex350 comprises mixed-reality element 232, and the fifth anchor vertex 360comprises mixed-reality element 242. Additionally, the third anchorvertex 340 comprises key frames 342(a, b) that are linked to themixed-reality element 222 through transform 344. Similarly, the fourthanchor vertex 350 comprises a single key frame 352 a that is linked tothe mixed-reality element 232 through transform 354. Further, the fifthanchor vertex 360 comprises key frames 362(a-c) that are each separatelylinked to the mixed-reality element 242 through transforms 364(a-c).

As described above, as the anchor vertexes 340, 350, 360 are identified,respective anchor edges 410, 420, 430 can be created by themixed-reality headset 110. For example, anchor edge 410 and anchor edge420 both primarily follow the user's pathway 260 between the thirdanchor vertex 340 and the fourth anchor vertex 350 and between thefourth anchor vertex 350 and the fifth anchor edge 360, respectively. Assuch, using methods described above, the mixed-reality headset 110 cancalculate anchor edge 410 and anchor edge 420 using sensor data gatheredfrom the user's mixed-reality headset 110 as the user traveled from thethird anchor vertex 340 to the fourth anchor vertex 350 and from thefourth anchor vertex 350 to the fifth anchor vertex 360.

Additionally, using methods described above, the mixed-reality headset110 also creates a calculated anchor edge 430 that extends from thefifth anchor vertex 360 to the third anchor vertex 340. In particular,the mixed-reality headset 110 creates the calculated anchor edge 430 bycombining anchor edge 410 and anchor edge 420.

In contrast, the mixed-reality headset 110 can create an anchor edgebetween the fifth anchor vertex 360 and the third anchor vertex 340 alsousing sensor data gathered from the user's mixed-reality headset 110 asthe user 100 traveled from the fifth anchor vertex 360 to the thirdanchor vertex 340. For example, FIG. 4B illustrates another explodedview 450 of the anchor map 300 of FIG. 3. In the depicted embodiment,the mixed-reality headset 110 utilizes the user's pathway 470 betweenthe fifth anchor vertex 360 and the third anchor vertex 340 to create aderived anchor edge 460. As such, in the depicted embodiment, themixed-reality headset 110 has created a continuous loop of anchorvertexes and anchor edges between the third anchor vertex 340, the fouranchor vertex 350, and the fifth anchor vertex 360.

In at least one embodiment after creating the loop, the mixed-realityheadset 110 tunes one or more of the respective anchor edges 410, 420,460. For example, as described above, in at least one embodiment theanchor edges comprise rotational and translational matrices. In an idealcase, mathematical relationships exist between the respective anchoredges within the loop. For instance, a combination of anchor edge 410and anchor edge 420 should produce derived anchor edge 460. Using thismathematical relationship, the mixed-reality headset 110 can tune therespective anchor edges 410, 420, 460 based upon any discrepancies withthe above stated mathematic relationship.

In at least one embodiment, when tuning the respective anchor edges 410,420, 460, the mixed-reality headset 110 weights the accuracy of one ormore of the anchor edges higher. For instance, anchor edge 410 andanchor edge 420 may have previously been tuned based upon data receivedfrom multiple different mixed-reality devices worn by multiple differentusers who traveled from the third anchor vertex 340 to the fourth anchorvertex 350 and from the fourth anchor vertex 350 to the fifth anchorvertex 360. In contrast, derived anchor edge 460 may only have data froma single mixed-reality device associated with a single user who walkedpathway 470. In such a case, the mixed-reality device 110 tunes anchoredge 460 to conform with the mathematical relationship determined by acombination of anchor edge 410 and anchor edge 420. Accordingly, invarious embodiments, the mixed-reality device 110 can tune variousanchor edges over time such that greater accuracy is achieved as moreanchor edges are added to an anchor graph and are validated by multipleusers.

FIG. 5 illustrates a schematic view of an embodiment of a mixed-realitysystem. In particular, FIG. 5 illustrates a schematic view of a usersystem 500 in communication with a mixed-reality server system 550through a network connection 540. The user system 500 may correspondwith various hardware and software components within a mixed-realitydevice, such as mixed-reality headset 110. As depicted, the user system500 comprises storage 510, processor(s) 520, output interface 524,sensory input interface 526, graphics processing unit 528, camera 530,display 532, and sensors 534. Storage 510 contains anchor graph storage512, local anchor vertex storage 514, and key frame storage 516.

Mixed-reality server system 550 comprises storage 560, processor(s) 570,and network interfaces 580. Storage 560 contains remote anchor storage562, maps 564, and in some additional or alternative embodiments remotekey frame storage 566. The user system 500 and/or the mixed-realityserver system 550 may be executed on various local, remote, and/ordistributed systems 542(a-c) that communicate through network connection540. One will understand that the various modules and componentsdepicted in FIG. 5 are provided for the sake of example and that invarious additional or alternative embodiments different combinations,descriptions, and depictions of modules and components can beequivalently used and described.

In at least one embodiment of user system 500, processor(s) 520 executevarious software applications within the mixed-reality device 110. Forexample, the processor(s) 520 direct the graphics processing unit 528 torender a hologram and provide the hologram through the output interface524 to a display 532 within the mixed-reality device. The processor(s)520 also receive through the sensor input interface 526 sensor data fromvarious sensors 534, including a camera 530.

As the processor(s) 520 identify anchor vertexes, the processor(s) 520store the anchor vertexes within local anchor vertex storage 514.Similarly, as the mixed-reality device 110 generates key frames 250, theprocessor(s) 520 store the generated key frames 250 within key framestorage 516. As such, as the mixed-reality device 110 gathers andgenerates information related to the mixed-reality worldspace, theprocessor(s) 520 store the various SLAM coordinate data within anchorgraph storage 512.

Additionally, the processor(s) 520 communicate information to themixed-reality server system 550. For example, in at least oneembodiment, the processor(s) 520 causes the network interface 536 tocommunicate one or more anchor vertexes to the mixed-reality serversystem 550.

The mixed-reality server system 550 receives the communicated anchorvertexes through network interface 580. Upon receiving an anchor vertex,the processor(s) 570 store the anchor vertex within remote anchorstorage 562. Additionally, in at least one embodiment, the processor(s)570 also store location data associated with a physical location of oneor more anchor vertexes within maps 564. For example, the processor(s)570 can store GPS coordinates associated with a particular anchor vertexwithin the maps 564.

In at least one additional or alternative embodiment, the processors 570also store one or more received key frames 250 within remote key framestorage 566. For example, the processor(s) 570 may store some key frames250 that are not associated with either an anchor vertex or an anchoredge. In contrast, in at least one embodiment, the mixed-reality serversystem 550 does not store any key frames 250, except those that arecontained with anchor vertexes. Accordingly, in at least one embodiment,the mixed-reality server system 550 is only transmitting anchor vertexesto mixed-reality devices 110, and is not transmitting stand-alone keyframes 250 that are not otherwise contained within an anchor vertex.

The form factor of the user system 500 and the mixed-reality serversystem 550 may vary to accommodate different needs and preferences. Forinstance, as described herein, the different systems may be standalonesystems or distributed systems. The user system 500 may be configured asa head mounted display, another wearable or portable device, a vehicle,robot and/or autonomous system.

One will appreciate that embodiments disclosed herein can also bedescribed in terms of flowcharts comprising one or more acts foraccomplishing a particular result. For example, FIGS. 6-8 and thecorresponding text describe acts in various systems for performingmethods and/or stand-alone methods for segmenting scenes into semanticcomponents. The acts of FIGS. 6-8 are described below.

For example, FIG. 6 illustrates a flowchart 600 of acts associated withmethods for generating an anchor graph for a mixed-reality environment.The illustrated acts comprise an act 610 of identifying a first anchorvertex that includes a first set of one or more key frames, a firstmixed-reality element, and at least one first transform connecting atleast one key frame of the first set of one or more key frames to thefirst mixed-reality element. For example, as depicted and described inFIGS. 2 and 3, a user 100 with a mixed-reality headset 110 can identifythe first anchor vertex 320. Identifying the first anchor vertex 320includes either creating the first anchor vertex 320 or receiving thefirst anchor vertex 320 from mixed-reality server system 550.

The next illustrated act, act 620, comprises identifying a second anchorvertex that includes a second set of one or more key frames, a secondmixed-reality element, and at least one second transform connecting atleast one key frame of the second set of the one or more key frames tothe second mixed-reality element. For example, as depicted and describedin FIGS. 2 and 3 and the accompanying description, a user 100 with amixed-reality headset 110 can identify the second anchor vertex 330.Identifying the second anchor vertex 330 includes either creating thesecond anchor vertex 330 or receiving the second anchor vertex 330 frommixed-reality server system 550.

The next illustrated act, act 630, includes creating a first anchor edgebetween the first anchor vertex and the second anchor vertex. Forexample, as depicted and described in FIG. 3 and the accompanyingdescription, a mixed-reality headset 110 calculates a first anchor edge372 in the form of a rotational matrix and/or a translational matrixthat are derived from sensor data received as the user traveled from thefirst anchor vertex 320 to the second anchor vertex 330.

The next illustrated act, act 640, includes saving the first anchorvertex, the second anchor vertex, and the anchor edge within an anchorgraph data structure. For example, as depicted and described in FIG. 5and in the accompanying description, the user system 500 (i.e., themixed-reality headset 110) stores anchor vertex data within an anchorgraph storage 512. The anchor graph store 512 comprises various anchorgraph storage structures such as, but not limited to, flat file data,relational data, linked data, and various other known data structures.

FIG. 7 illustrates a flowchart 700 of acts associated with relatedmethods for using anchor graphs within mixed-reality environments. Thefirst illustrated act, act 710, includes identifying a first device witha stored first anchor graph. For example, as depicted and described inFIGS. 2 and 5 and the accompanying description, the mixed-reality serversystem 550 identifies a mixed-reality device 110 that is associated withan anchor graph storage 512, which comprises a stored first anchorgraph.

Next, act 720 includes detecting that the first device is near a firstphysical location, which may include determining the device is within apredetermined proximity to a first physical location. For example, asdepicted and described in FIG. 3 and the accompanying description, themixed-reality server system 550 identifies when a user 100 comes withina predetermined proximity to a physical location associated with thefirst anchor vector 320. The mixed-reality server system 550 identifiesthe relative location of the user 100 based upon information receivedfrom the mixed-reality user device 110 and information stored withinmaps 564.

Next, act 730 includes transmitting a first anchor vertex and a firstanchor edge to the first device. This may be performed in response todetecting that the first device is within the predetermined proximityand may be performed by transmitting a first anchor vertex 320 and afirst anchor edge 372 to the first device (e.g., mixed-reality headset110), wherein the first anchor vertex comprises at least one first keyframe, a first mixed-reality element, and at least one first transformconnecting the at least one first key frame to the first mixed-realityelement and wherein the first anchor edge comprises a transformationconnecting the first anchor vertex to a second anchor vertex. Forexample, as depicted and described in FIGS. 3 and 5 and the accompanyingdescription, the mixed-reality server system 550 can transmit an anchorvertex (e.g., first anchor vertex 320) and an anchor edge (e.g., firstanchor edge 372) to a mixed-reality device 110.

FIG. 8 illustrates a flowchart 800 of acts associated with relatedmethods for using an anchor graph within a mixed-reality environment.The first illustrated act, an act 810, includes communicating locationdata associated with a first device to a server. This location data isassociated with a location of a first device. For example, as depictedand described in FIGS. 3 and 5 and the accompanying description, usersystem 500 (e.g., mixed-reality device 110) communicates through anetwork interface 536 to the mixed-reality server system 550 locationdata gathered from one or more sensors 534. Alternatively, the locationmay be entered by the user into the user device.

Next, the device receives (act 820) a first anchor vertex and a firstanchor edge in response to communicating the location data to theserver. The first anchor vertex is a vertex that is determined to bewithin a predetermined proximity to the first device and a first anchoredge or that is otherwise related to a stored vertex at the user device.The first anchor vertex comprises at least one first key frame, a firstmixed-reality element, and at least one first transform connecting theat least one first key frame to the first mixed-reality element. Thefirst anchor edge comprises a transformation connecting the first anchorvertex to another anchor vertex (e.g., a stored vertex). For example, asdepicted and described in FIGS. 3 and 5 and the accompanyingdescription, when it is determined that a user 100 is within apredetermined proximity to a physical location associated with an anchorvertex, the mixed-reality server system 550 communicates the anchorvertex to the user device.

Based on the foregoing description, it will be appreciated that thedisclosed embodiments provide systems, methods, and apparatuses foroptimizing the sharing of sparse SLAM coordinates within a mixed-realityworldspace. As described herein, the use, storage, and transmission ofanchor vertexes provide significant technical improvements to at leastbandwidth consumption and storage space requirements withinmixed-reality applications. The improved bandwidth and storage spacerequirements provides for significantly improved user experience withinmixed-reality worldspaces because the use of the location vertexesprovides less of a burden on network bandwidth and storage capacities.

Additionally, by using anchor vertexes that are linked together byanchor edges within an anchor graph map, it is possible to create asystem of graphs within graphs. A “graph of graphs” representationenables sparse representation of SLAM data, which is locally dense inregions where shared mixed-reality content is displayed. Each anchorvertex represents a relatively small SLAM map component with trackingand relocalization data, and contains at least one associatedworld-fixed coordinate frame or “anchor” for displaying accuratelyregistered mixed-reality content. Each anchor edge encodes relative posebetween the coordinate system(s) represented by respective anchorvertexes. The physical size of the mapped environment becomes virtuallyunlimited via cloud-based storage of exported SLAM tracking data (i.e.“anchor vertexes”).

Further, the methods may be practiced by a computer system including oneor more processors and computer-readable media such as computer memory.In particular, the computer memory may store computer-executableinstructions that when executed by one or more processors cause variousfunctions to be performed, such as the acts recited in the embodiments.

Embodiments of the present invention may comprise or utilize a specialpurpose or general-purpose computer including computer hardware, asdiscussed in greater detail below. Embodiments within the scope of thepresent invention also include physical and other computer-readablemedia for carrying or storing computer-executable instructions and/ordata structures. Such computer-readable media can be any available mediathat can be accessed by a general purpose or special purpose computersystem. Computer-readable media that store computer-executableinstructions are physical storage media. Computer-readable media thatcarry computer-executable instructions are transmission media. Thus, byway of example, and not limitation, embodiments of the invention cancomprise at least two distinctly different kinds of computer-readablemedia: physical computer-readable storage media and transmissioncomputer-readable media.

Physical computer-readable storage media includes RAM, ROM, EEPROM,CD-ROM or other optical disk storage (such as CDs, DVDs, etc.), magneticdisk storage or other magnetic storage devices, or any other mediumwhich can be used to store desired program code means in the form ofcomputer-executable instructions or data structures and which can beaccessed by a general purpose or special purpose computer.

A “network” is defined as one or more data links that enable thetransport of electronic data between computer systems and/or modulesand/or other electronic devices. When information is transferred orprovided over a network or another communications connection (eitherhardwired, wireless, or a combination of hardwired or wireless) to acomputer, the computer properly views the connection as a transmissionmedium. Transmissions media can include a network and/or data linkswhich can be used to carry out desired program code means in the form ofcomputer-executable instructions or data structures and which can beaccessed by a general purpose or special purpose computer. Combinationsof the above are also included within the scope of computer-readablemedia.

Further, upon reaching various computer system components, program codemeans in the form of computer-executable instructions or data structurescan be transferred automatically from transmission computer-readablemedia to physical computer-readable storage media (or vice versa). Forexample, computer-executable instructions or data structures receivedover a network or data link can be buffered in RAM within a networkinterface module (e.g., a “NIC”), and then eventually transferred tocomputer system RAM and/or to less volatile computer-readable physicalstorage media at a computer system. Thus, computer-readable physicalstorage media can be included in computer system components that also(or even primarily) utilize transmission media.

Computer-executable instructions comprise, for example, instructions anddata which cause a general purpose computer, special purpose computer,or special purpose processing device to perform a certain function orgroup of functions. The computer-executable instructions may be, forexample, binaries, intermediate format instructions such as assemblylanguage, or even source code. Although the subject matter has beendescribed in language specific to structural features and/ormethodological acts, it is to be understood that the subject matterdefined in the appended claims is not necessarily limited to thedescribed features or acts described above. Rather, the describedfeatures and acts are disclosed as example forms of implementing theclaims.

Those skilled in the art will appreciate that the invention may bepracticed in network computing environments with many types of computersystem configurations, including, personal computers, desktop computers,laptop computers, message processors, hand-held devices, multi-processorsystems, microprocessor-based or programmable consumer electronics,network PCs, minicomputers, mainframe computers, mobile telephones,PDAs, pagers, routers, switches, and the like. The invention may also bepracticed in distributed system environments where local and remotecomputer systems, which are linked (either by hardwired data links,wireless data links, or by a combination of hardwired and wireless datalinks) through a network, both perform tasks. In a distributed systemenvironment, program modules may be located in both local and remotememory storage devices.

Alternatively, or in addition, the functionality described herein can beperformed, at least in part, by one or more hardware logic components.For example, and without limitation, illustrative types of hardwarelogic components that can be used include Field-programmable Gate Arrays(FPGAs), Program-specific Integrated Circuits (ASICs), Program-specificStandard Products (ASSPs), System-on-a-chip systems (SOCs), ComplexProgrammable Logic Devices (CPLDs), etc.

The present invention may be embodied in other specific forms withoutdeparting from its spirit or characteristics. The described embodimentsare to be considered in all respects only as illustrative and notrestrictive. The scope of the invention is, therefore, indicated by theappended claims rather than by the foregoing description. All changeswhich come within the meaning and range of equivalency of the claims areto be embraced within their scope.

What is claimed is:
 1. A computer system for connecting anchorcomponents in a mixed-reality environment, comprising: one or moreprocessors; and one or more computer-readable medium having storedcomputer-executable instructions that are executable by the one or moreprocessors to cause the computer system to perform a method thatincludes at least the following: identifying a first anchor component inthe mixed-reality environment that includes a first mixed-realityelement and at least one first key frame that is connected to the firstmixed-reality element with at least one first transform; identifying asecond anchor component in the mixed-reality environment that includes asecond mixed-reality element and at least one second key frame that isconnected to the second mixed-reality element with at least one secondtransform; and creating an anchor connecting component that includes asingle connecting transform that connects the first anchor component tothe second anchor component and which omits at least a separatetransform between an individual key frame in the first anchor componentwith an individual key frame in the second anchor component.
 2. Thecomputer system of claim 1, wherein the method further includes: savingthe first and second anchor component, along with the single connectingtransform, within a single anchor data structure.
 3. The computer systemof claim 2, wherein the single anchor data structure comprises an anchorgraph.
 4. The computer system of claim 1, wherein the method furtherincludes: identifying a third anchor component in the mixed-realityenvironment that includes a third mixed-reality element and at least onethird key frame that is connected to the third mixed-reality elementwith at least one third transform; creating a second anchor connectingcomponent between the second anchor component and the third anchorcomponent; and creating a third anchor connecting component between thethird anchor component and the first anchor component.
 5. The computersystem as recited in claim 4, wherein the method further includes tuningthe first anchor connecting component based upon values associated withthe third anchor connecting component.
 6. The computer system as recitedin claim 4, wherein: the second anchor connecting component is createdbased upon one or more sensor readings gathered along a pathway thatlinks the second anchor component and the third anchor component; andthe third anchor connecting component is created based upon acombination of the first anchor connecting component and the secondanchor connecting component.
 7. The computer system as recited in claim1, wherein creating the first anchor connecting component comprisescalculating a direct transformation between the first anchor componentand the second anchor component.
 8. The computer system as recited inclaim 1, wherein identifying a first anchor component comprises creatingthe first anchor component.
 9. The computer system as recited in claim8, wherein creating the first anchor component comprises creating the atleast one first transform.
 10. The computer system as recited in claim9, wherein the at least one first transform is based upon aninterpolation of a coordinate location associated with the firstmixed-reality element, which coordinate location is derived fromcoordinates associated with the at least one key frame.
 11. The computersystem as recited in claim 9, wherein the at least one first transformincludes a plurality of transforms that connect a plurality ofrespective key frames, including the at least one key frame, to thefirst mixed-reality element.
 12. A method implemented by a computersystem for connecting anchor components in a mixed-reality environment,comprising: identifying a first anchor component in the mixed-realityenvironment that includes a first mixed-reality element and at least onefirst key frame that is connected to the first mixed-reality elementwith at least one first transform; identifying a second anchor componentin the mixed-reality environment that includes a second mixed-realityelement and at least one second key frame that is connected to thesecond mixed-reality element with at least one second transform; andcreating an anchor connecting component that includes a singleconnecting transform that connects the first anchor component to thesecond anchor component and which omits at least a separate transformbetween an individual key frame in the first anchor component with anindividual key frame in the second anchor component.
 13. The method ofclaim 12, wherein the method further includes: saving the first andsecond anchor component, along with the single connecting transform,within a single anchor data structure.
 14. The method of claim 13,wherein the single anchor data structure comprises an anchor graph. 15.The method of claim 12, wherein the method further includes: identifyinga third anchor component in the mixed-reality environment that includesa third mixed-reality element and at least one third key frame that isconnected to the third mixed-reality element with at least one thirdtransform; creating a second anchor connecting component between thesecond anchor component and the third anchor component; and creating athird anchor connecting component between the third anchor component andthe first anchor component.
 16. The method as recited in claim 15,wherein the method further includes tuning the first anchor connectingcomponent based upon values associated with the third anchor connectingcomponent.
 17. The method as recited in claim 15, wherein: the secondanchor connecting component is created based upon one or more sensorreadings gathered along a pathway that links the second anchor componentand the third anchor component; and the third anchor connectingcomponent is created based upon a combination of the first anchorconnecting component and the second anchor connecting component.
 18. Themethod as recited in claim 12, wherein creating the first anchorconnecting component comprises calculating a direct transformationbetween the first anchor component and the second anchor component. 19.The method as recited in claim 12, wherein identifying a first anchorcomponent comprises creating the first anchor component by at leastcreating the at least one first transform and wherein the at least onefirst transform includes a plurality of transforms that connect aplurality of respective key frames, including the at least one keyframe, to the first mixed-reality element.
 20. A computer programproduct comprising one or more hardware storage device(s) having storedcomputer-executable instructions that are executable by one or moreprocessors of a computer system to cause the computer system to performa method that includes at least the following: identifying a firstanchor component in a mixed-reality environment and that includes afirst mixed-reality element and at least one first key frame that isconnected to the first mixed-reality element with at least one firsttransform; identifying a second anchor component in the mixed-realityenvironment and that includes a second mixed-reality element and atleast one second key frame that is connected to the second mixed-realityelement with at least one second transform; and creating an anchorconnecting component that includes a single connecting transform thatconnects the first anchor component to the second anchor component andwhich omits at least a separate transform between an individual keyframe in the first anchor component with an individual key frame in thesecond anchor component.